System and method for establishing virtual boundaries for robotic devices

ABSTRACT

Methods for utilizing virtual boundaries with robotic devices are presented including: positioning a boundary component having a first receiver pair to receive a first robotic device signal substantially simultaneously by each receiver of the first receiver pair from a first robotic device only when the first robotic device is positioned along a first virtual boundary; operating the first robotic device to move automatically within an area co-located with the first virtual boundary; transmitting the first robotic device signal by the first robotic device; and receiving the first robotic device signal by the first receiver pair thereby indicating that the first robotic device is positioned along the first virtual boundary.

FIELD OF THE INVENTION

This disclosure relates to robotic systems generally, and moreparticularly to providing virtual boundaries for limiting surfacecoverage by robotic devices. This invention relates to confining thesurface movement to defined areas of mobile robotic devices.

BACKGROUND OF THE DISCLOSURE

Robotic devices may operate within a confined portion of a physical areaor workspace. Mobile robots may perform routine tasks, such asvacuuming, sweeping, mopping, cutting grass, etc., without moving intocertain areas specified by the user. However, on occasion, a vacuumingrobot operating within a first area may be permitted to travel into asecond area prior to satisfactory completion of, for example, avacuuming task within the first area. In other instances, the vacuumingrobot may collide with and, potentially, damage a fragile or unstableobject that is not detected by sensors accessed by the vacuuming robot.In other instances, a user may simply prefer that a vacuuming robotremain outside of an area, for example, if the area is currently in use.Thus, it may be useful to confine a robotic device so as to operatewithin certain areas and to prevent unwanted transition between areas.

One approach toward confining robotic device may be to utilize physicalbarriers that block the robotic device from entering, or becomingproximate with, one or more objects and/or areas of operation. However,this solution is neither efficient nor practical since substantial extraequipment (e.g., barriers and/or other objects) may encumber routinemovement through the area of operation by the robotic device. Further,such an approach may involve an undesirable degree of humanintervention, which may decrease a level of autonomy of the system as awhole.

Various systems have been proposed to confine and control roboticdevices within subsections of workspaces. It can be advantageous toconfine a robotic vacuum, for example, in a portion of a workspace sothat it can adequately clean that space before moving on to anotherarea. As such, systems and methods for establishing virtual boundariesfor robotic devices are provided herein.

SUMMARY

A virtual boundary device having one or more pairs of signal receiversmay be placed at a desired location to establish a virtual boundary.Anytime a pair of receivers of a virtual boundary device receive signalsfrom a corresponding robotic device, which is programmed to emitwireless signals, the virtual boundary device sends a signal back to therobotic device. Upon receiving a signal from the virtual boundarydevice, the robotic device may be programmed to activate movementpatterns to turn away from or otherwise not cross a virtual boundarycreated by methods disclosed herein. In operation, a virtual boundary isestablished along a line where a set of receivers are able to receivesignals from a single origin at the same time. The housing of thereceivers is designed in a way such that both receivers can receivesignals from a single origin along substantially only one line. Onlywhen the robotic device is along the virtual boundary will a signalemitted from the robotic device reach both receivers of the virtualboundary device. When the robotic device is not positioned along thevirtual boundary, then signals emitted from the robotic device cannotreach both receivers of the virtual boundary device and the roboticdevice may continue along its established path.

Any number of pairs of signal receivers may be provided on virtualboundary device embodiments. Paired signal receivers may be provided atdifferent angles on the virtual boundary device to create multipleboundaries along different directions. In some embodiments, each pair ofsignal receivers may be activated or deactivated with a switch activatedin response to user input, timers, light sensitivity, motion activity,and the like. Users may customize the virtual boundaries to the specificneeds of their environment. In some embodiments, the position of one ormore pairs of signal receivers may be adjustable with pivoting ormovable members.

Methods for utilizing virtual boundaries with robotic devices arepresented including: positioning a boundary component having a firstreceiver pair to receive a first robotic device signal substantiallysimultaneously by each receiver of the first receiver pair from a firstrobotic device only when the first robotic device is positioned along afirst virtual boundary; operating the first robotic device to moveautomatically within an area co-located with the first virtual boundary;transmitting the first robotic device signal by the first roboticdevice; and receiving the first robotic device signal by the firstreceiver pair thereby indicating that the first robotic device ispositioned along the first virtual boundary. In some embodiments,methods further include: in response to receiving the first roboticdevice signal substantially simultaneously, altering the first roboticdevice movement to avoid crossing the virtual boundary. In someembodiments, methods altering the first robotic movement furtherincludes: transmitting a boundary signal from the boundary device; andreceiving the boundary signal by the first robotic device. In someembodiments, methods further include: the first robotic device signal isonly transmitted during a designated time. In some embodiments, thefirst receiver pair is configured to receive the first robotic devicesignal only during a designated time. In some embodiments, methodsfurther include: positioning at least one additional boundary componenteach having at least one additional receiver pair to receive the firstrobotic device signal substantially simultaneously from the firstrobotic device only when the first robotic device is positioned along atleast one additional virtual boundary; operating the first roboticdevice to move automatically within an area co-located with the at leastone additional virtual boundary; transmitting the first robotic devicesignal by the first robotic device; and receiving the first roboticdevice signal by the at least one additional first receiver pair therebyindicating that the first robotic device is positioned along the atleast one additional virtual boundary. In some embodiments, the firstpassage and the second passage each further include a number of bafflespositioned along first and second passage walls, where the number ofbaffles are angled toward openings of the first and second passage. Insome embodiments, the passages are angled to physically prevent thefirst robotic device signal from substantially simultaneously reachingthe receiver pair except when the first robotic device is positionedalong the first virtual boundary.

In other embodiments, virtual boundary systems for robotic devices arepresented including: at least one robotic device each including, arobotic transmitter for transmitting a robotic device signal, a roboticreceiver for receiving a boundary signal, and a robotic controller foraltering movement of the robotic device in response to receiving theboundary signal; at least one boundary device each including, at leastone boundary component having passages and a receiver pair, the receiverpair configured to receive the robotic device signal substantiallysimultaneously by each receiver of the receiver pair when the at leastone robotic device is positioned along at least one virtual boundary,and a boundary transmitter for transmitting the boundary signal inresponse to receiving the robotic device signal substantiallysimultaneously. In some embodiments, the at least one boundary deviceincludes: at least two boundary components pivotally coupled therewithwhere each of the at least two boundary components each establish aseparate virtual boundary.

In other embodiments, computing device program products for utilizingvirtual boundaries with robotic devices are presented, the computingdevice program products including: a non-transitory computer readablemedium; first programmatic instructions for operating a first roboticdevice to move automatically within an area co-located with a firstvirtual boundary, the first virtual boundary established by positioninga boundary component having a first receiver pair to receive a firstrobotic device signal substantially simultaneously by each receiver ofthe first receiver pair from the first robotic device only when thefirst robotic device is positioned along the first virtual boundary;second programmatic instructions for transmitting the first roboticdevice signal by the first robotic device; third programmaticinstructions for receiving the first robotic device signal by the firstreceiver pair thereby indicating that the first robotic device ispositioned along the first virtual boundary; and fourth programmaticinstructions for altering the first robotic device movement to avoidcrossing the virtual boundary.

BRIEF DESCRIPTION OF DRAWINGS

Non-limiting and non-exhaustive features of the present invention aredescribed with reference to the following figures, wherein likereference numerals refer to like parts throughout the various figures.

FIG. 1 illustrates an example of the operation of a virtual boundarysystem embodying features of the present invention;

FIG. 2 illustrates a robotic device embodying features of the presentinvention;

FIG. 3 illustrates a virtual boundary device embodying features of thepresent invention;

FIG. 4 illustrates the operation of a robotic device approaching avirtual boundary embodying features of the present invention;

FIG. 5 illustrates the operation of a robotic device intersecting avirtual boundary embodying features of the present invention;

FIG. 6 illustrates an embodiment of a virtual boundary device embodyingfeatures of the present invention;

FIG. 7 illustrates an embodiment of a virtual boundary device embodyingfeatures of the present invention;

FIG. 8 illustrates a virtual boundary device embodying features of thepresent invention;

FIG. 9 illustrates virtual boundary devices embodying features of thepresent invention;

FIG. 10 illustrates a virtual boundary device embodying features of thepresent invention; and

FIG. 11 illustrates a virtual boundary device embodying features of thepresent invention.

DETAILED DESCRIPTION

The present invention will now be described in detail with reference toa few embodiments thereof as illustrated in the accompanying drawings.In the following description, numerous specific details are set forth inorder to provide a thorough understanding of the present invention. Itwill be apparent, however, to one skilled in the art, that the presentinvention may be practiced without some or all of these specificdetails. In other instances, well known process steps and/or structureshave not been described in detail in order to not unnecessarily obscurethe present invention.

Various embodiments are described hereinbelow, including methods andtechniques. It should be kept in mind that the invention might alsocover articles of manufacture that includes a computer readable mediumon which computer-readable instructions for carrying out embodiments ofthe inventive technique are stored. The computer readable medium mayinclude, for example, semiconductor, magnetic, opto-magnetic, optical,or other forms of computer readable medium for storing computer readablecode. Further, the invention may also cover apparatuses for practicingembodiments of the invention. Such apparatus may include circuits,dedicated and/or programmable, to carry out tasks pertaining toembodiments of the invention. Examples of such apparatus include ageneral-purpose computer and/or a dedicated computing device whenappropriately programmed and may include a combination of acomputer/computing device and dedicated/programmable circuits adaptedfor the various tasks pertaining to embodiments of the invention. Thedisclosure described herein is directed generally to one or moreprocessor-automated methods and/or systems that generate one or morevirtual barriers for restricting or permitting autonomous robotic devicemovement within or out of a working area.

As understood herein, the term “robot” or “robotic device” may bedefined generally to include one or more autonomous devices havingcommunication, mobility, and/or processing elements. For example, arobot or robotic device may comprise a casing or shell, a chassisincluding a set of wheels, a motor to drive wheels, a receiver thatacquires signals transmitted from, for example, a transmitting beacon, aprocessor, and/or controller that processes and/or controls motor andother robotic autonomous or cleaning operations, network or wirelesscommunications, power management, etc., and one or more clock orsynchronizing devices.

Preferably one or more virtual boundary devices having one or morereceivers, transmitters, or transceivers are provided to be portable andself-powered. In embodiments, a user may easily position a virtualboundary device in order to create a virtual boundary for the roboticdevice. The robotic device detects the position of the virtual boundarywhen it approaches it through communication between the robotic deviceand the virtual boundary device. Once the robotic device has detectedits close proximity to the boundary it will alter its movement to avoidcrossing the boundary.

FIG. 1 illustrates an example of the operation of virtual boundarysystem 100 embodying features of the present invention. Virtual boundarydevice 102 may be placed in a position where the user desires torestrict the movement of robotic device 104. Virtual boundary device 102may have one or more paired receivers that establish virtual boundaries.As illustrated, two sets of paired receivers 106 and 108 are configuredfor providing virtual boundaries. As may be seen, receiver pair 106establishes virtual boundary 110 and receiver pair 108 establishes avirtual boundary 112. Receiver pairs 106 and 108 may be either activedevices which send and receive signals or passive devices which onlyreceive signals in order to establish virtual boundaries. Asillustrated, receiver pairs 106 and 108 may be pivotally coupled withvirtual boundary device 102 such that a user may adjust the respectivepositions and angles of virtual boundaries 110 and 112 about pivot point130.

As illustrated, robotic device 104 may, in the course of executing acoverage pattern for a work area, move in direction 140 toward virtualboundary 110. When robotic device 104 is positioned approximately alongvirtual boundary 110, receiver pair 106 may substantially simultaneouslyreceive a signal emitted by robotic device 104 and virtual boundarydevice 102 may send a signal to robotic device 104 to take anappropriate action to avoid crossing boundary 110. In embodiments, therobotic device may alter its movement in any number of ways such as,stopping, slowing, and changing course without limitation. Inembodiments, other appropriate actions may include triggering analgorithm or marking the present location as a boundary on a map withoutlimitation. In further embodiments methods may allow robotic devices topass a virtual boundary after a number of times of encountering thevirtual boundary. In so doing, a work area may be completed before arobotic device moves across the virtual boundary to another work area.In other embodiments, methods may provide location information as arobotic device crosses a virtual boundary. For example, when a boundarysystem is placed at an entrance threshold, a robotic device crossing thevirtual boundary provided may signal that the robotic device has entereda particular room and is now covering that room.

In some embodiments, receiver pairs 106 and 108 are passive deviceswhich receive signals in order to establish a boundary. Receiver pairs106 and 108 may each be comprised of two focused receivers that are ableto receive a signal from robotic devices along substantially a singlevirtual boundary or plane which separates a desired robot work area froman area where the robotic device is prohibited. In an embodiment,receiver pairs 106 and 108 are each comprised of a pair of receiverspositioned such that a signal may only be received at both receiverssubstantially simultaneously when the origin of the signal issubstantially along the virtual boundary or plane.

The general method of operation of embodiments may now be disclosed. Inembodiments, robotic devices may provide a continuous, semi-continuous,or pulsed robotic device signal as the robotic device moves about in itsassigned work area. Each receiver pair may be monitored for detection ofa robotic device signal. When both receivers of a receiver pairsubstantially simultaneously detect a robotic device signal, the roboticdevice emitting the robotic device signal will be positioned along avirtual boundary established by the receiver pair. A virtual boundarydevice will then send a boundary signal received by the robotic device.When the robotic device receives the boundary signal its movement isaltered to avoid crossing the virtual boundary. In embodiments, therobotic device may alter its movement in any number of ways such as,stopping, slowing, and changing course without limitation. Inembodiments, other appropriate actions may include triggering analgorithm or marking the present location as a boundary on a map withoutlimitation. In further embodiments methods may allow robotic devices topass a virtual boundary after a number of times of encountering thevirtual boundary. In so doing, a work area may be completed before arobotic device moves across the virtual boundary to another work area.In other embodiments, methods may provide location information as arobotic device crosses a virtual boundary. For example, when a boundarysystem is placed at an entrance threshold, a robotic device crossing thevirtual boundary provided may signal that the robotic device has entereda particular room and is now covering that room. In some embodiments,receiver pairs may be configured to receive robotic device signalsconstantly. In other embodiments receiver pairs may be configured toreceive robotic device signals only on a desired schedule. In addition,in some embodiments, the robotic device signal may be configured totransmit only on a desired schedule. Furthermore, in embodiments, theboundary signal may be configured to transmit only on a desiredschedule. In this manner, a robotic device may avoid a virtual boundaryat designated times (such as during work hours) and ignore a virtualboundary at other times (such as during off hours).

FIG. 2 illustrates robotic device 104 embodying features of the presentinvention and/or having the type and functionality of a samplerepresentative robotic device. As illustrated, robotic device 104 mayinclude without limitation casing or shell 202, chassis 220, wheels 218,motor 214 for driving wheels 218, receiver 216 that detects transmittedsignals, processor 224 and/or controller 226 to process and/or controlmotor and other robotic autonomous operations, network or wirelesscommunications, power management, etc., and one or more clock orsynchronizing devices 230. Device 104 may additionally include localdigital memory or accessible storage unit 240 and wireless sonar/radiosensor and/or telecommunications transceiver 250 for mobilecommunication interface with a network or other wireless communicationdevice, or boundary transceivers.

FIG. 3 illustrates virtual boundary device 300 embodying features of thepresent invention. As illustrated, virtual boundary device 300 mayinclude housing 302. Within housing 302, receiver pair 310 and 312 areeach located at the terminal end of each of passages 306 and 308respectively. The combination of passages and receiver pair may betermed a virtual boundary component. Passages 306 and 308 extend fromsurface 304 to receiver pair 310 and 312 at an angle. The angle utilizedprevents receiver pair 310 and 312 from substantially simultaneouslyreceiving a signal unless the signal is emitted from a robotic devicepositioned along a line as illustrated by line 314. Thus, when a roboticdevice emitting a robotic device signal is positioned along virtualboundary 314, receiver pair 310 and 312 may substantially simultaneouslyreceive a signal and thereby the robotic device may be caused to avoidthe virtual boundary. In embodiments, the robotic device may avoid thevirtual boundary by altering its movement in any number of ways such as,stopping, slowing, and changing course without limitation. Inembodiments, other appropriate actions may include triggering analgorithm or marking the present location as a boundary on a map withoutlimitation. In further embodiments methods may allow robotic devices topass a virtual boundary after a number of times of encountering thevirtual boundary. In so doing, a work area may be completed before arobotic device moves across the virtual boundary to another work area.In other embodiments, methods may provide location information as arobotic device crosses a virtual boundary. For example, when a boundarysystem is placed at an entrance threshold, a robotic device crossing thevirtual boundary provided may signal that the robotic device has entereda particular room and is now covering that room. In embodiments,receiver pairs may be configured for receiving various signals such as,for example: infrared, laser, radio frequency, wifi, sonar, light, soundwaves, global positioning signal, cellular communication devicetransmissions, magnetic field signal, or any other suitable wirelesssignal sent by a robotic device. In embodiments, the passages 306 areset at an angle with respect to a virtual boundary line. Passage anglesmay be in a range of approximately −90 to 90 degrees with respect to avirtual boundary line and preferably approximately −45 to 45 degreeswith respect to a virtual boundary line. In addition, in embodiments,passage angles between sensors may be the same, may be inverselyrelated, or may be different from each other without limitation.

In like manner, within housing 302, receiver pair 330 and 332 are eachlocated at the terminal end of each of passages 326 and 328respectively. Passages 326 and 328 extend from surface 324 to receiverpair 330 and 332 at an angle. The angle utilized prevents receiver pair330 and 332 from substantially simultaneously receiving a signal unlessthe signal is emitted from a robotic device positioned along a line asillustrated by line 334. Thus, when a robotic device emitting a roboticdevice signal is positioned along virtual boundary 334, receiver pair330 and 332 may substantially simultaneously receive a signal andthereby the robotic device may be caused to avoid the virtual boundary.In embodiments, receiver pairs may be configured for receiving varioussignals such as, for example: infrared, laser, radio frequency, wifi,sonar, light, sound waves, global positioning signal, cellularcommunication device transmissions, magnetic field signal, or any othersuitable wireless signal sent by a robotic device. In embodiment, thepassages 326 are set at an angle with respect to a boundary line 334.

Referring briefly to both FIGS. 2 and 3, in embodiments, passages 306and 308 as well as receiver pair 310 and 312 may be positioned atsubstantially the same height as a transceiver 250 of robotic device 104for improved reception of the signal from the robotic device. Likewise,in embodiments, passages 326 and 328 as well as receiver pair 330 and332 may be positioned at substantially the same height as a transceiver250 of robotic device 104 for improved reception of the signal from therobotic device.

Returning to FIG. 3, virtual boundary device 300 may include acontroller 340 which may be electrically coupled with each of receiver310, 312, 330, and 332. Further, transmitter 350 may be electricallycoupled with controller 340. Transmitter 350 may be a transmitter forinfrared, laser, radio frequency, wifi, sonar light, sound waves, globalpositioning signal, cellular communication device transmissions,magnetic field signal, or other suitable wireless transmitter which iscompatible with a signal which may be received by the robotic device.Controller 340 may function to detect whether both receivers of anyreceiver pair substantially simultaneously receives an incoming signal.Any time a receiver pair substantially simultaneously receives anincoming signal, controller 340 enables transmitter 350 to transmitboundary signals, which may be received by a robotic device positionedalong a virtual boundary and which may be programmed to alter itsmovement path upon receipt of the boundary signal. The controller 340may be implemented with AND gate logic circuits. Other implementationsmay also be used, such as processor based controllers.

In embodiments, housings may be constructed of a type of material and athickness which effectively blocks the robotic device signal.Alternatively, the circuit 340 may monitor the signal strength of therobotic device signal at each receiver and only enables the transmitterwhen the signal strength from both receivers exceeds a threshold amountwhich indicates that the robotic device signal is passing through bothpassages to the respective receivers.

FIG. 4 illustrates the operation of robotic device 104 approachingvirtual boundary 314 embodying features of the present invention. Themethod will now be described. Virtual boundary device 300 may bepositioned to establish virtual boundaries or planes 314 and 334.Virtual boundaries 314 and 334 apportion an area into a robotic devicework area 410 and out of bounds area 412. In operation, robotic device104 may be enabled to cover a surface area in a defined or randompattern. As such, robotic device 104 may move within the work area 410co-located with virtual boundary 314. During movement, robotic device104 may be configured to emit a continuous, semi-continuous, or pulsedrobotic device signal 420 from its transceiver 250 (see FIG. 2). Inembodiments, robotic device signals may include infrared, laser, radiofrequency, wifi, sonar, light, sound waves, global positioning signal,cellular communication device transmissions, magnetic field signal, orother suitable wireless signal type.

Further, during movement robotic device 104 may travel along direction430 toward virtual boundary 314. As shown in FIG. 4, the robotic device104 is still located a distance from virtual boundary 314. At theposition illustrated, robotic device signal 420 is only being receivedby one receiver of a receiver pair associated with boundary 314. Assuch, a controller in virtual boundary device 300 detects that only oneof receiver pair is receiving robotic device signal 420 and does notenable transmission of a boundary signal.

FIG. 5 illustrates the operation of robotic device 104 intersectingvirtual boundary 314 embodying features of the present invention. Oncerobotic device 104 is located at virtual boundary 314, robotic devicesignal 420 is substantially simultaneously received by a receiver pairof virtual boundary device 300. A controller detects a receiver pair isreceiving robotic device signal 420. The controller then enables atransmitter to send an outbound signal to robotic device 104. Roboticdevice 104 receives the boundary signal and its controller instructs therobotic device 104 to alter its movement to avoid crossing virtualboundary 314. As an illustrated example, robotic device 104 may reverseits path and proceed in direction 510. As robotic device 104 moves awayfrom virtual boundary 314, both receivers of a receiver pair are nolonger substantially simultaneously receiving robotic device signal 420.The virtual boundary device controller detects the lack of a signal atthe receiver pair and the virtual boundary device controller thenterminates the boundary signal. Thus, the robotic device is preventedfrom crossing the virtual boundary 314 and equally prevented fromcovering out of bounds area 412.

FIG. 6 illustrates an embodiment of virtual boundary device embodyingfeatures of the present invention. As illustrated, virtual boundarydevice 600 is rotatably adjustable. Further illustrated, upper portion602 is rotatably coupled with lower portion 604. Upper portion 602 has apair of passages 610 and each passage terminates at a receiver (notshown). The receivers of passages 610 are a receiver pair. Passages 610and corresponding receiver pair are configured similar to theembodiments described above such that they define a virtual boundary612. Lower portion 604 also has passages 620 and each passage 620terminates at a receiver (not shown). Passages 620 and correspondingreceiver pair are configured to define virtual boundary 622. Virtualboundary device 600 may also include a controller and transmittersimilar to those previously described above.

In operation, a user may rotate upper portion 602 in direction 630 or640 relative to bottom portion 604. In this manner, virtual boundary 612may be adjusted relative to virtual boundary 622. This configurationallows users to customize the angle between virtual boundaries to fitthe particular needs of a working environment. In some embodiments,virtual boundaries may be activated and deactivated through a switch orbutton 650 that activates and deactivates the corresponding receiverpairs. Switch 650 may control a switch located between the power sourceand the receiver set.

FIG. 7 illustrates an embodiment of virtual boundary device 700embodying features of the present invention. As illustrated, virtualboundary device 700 includes cylindrically shaped housing 702. Housing702 includes top surface 704 and side surface 706. Side surface 706includes a number of virtual boundary components 710 positioned alongthe circumference of housing 702. Each virtual boundary componentincludes a pair of passages and receivers similar to those describedabove. A plurality of buttons 720 may be positioned along top surface704. Each button may be associated with one of the virtual boundarycomponents 710. The button may control a switch located between a powersource and the receivers located within the respective virtual boundarycomponent 710. A user may selectively enable different virtual boundarycomponents to configure the appropriate virtual boundaries for therobotic device. FIG. 7 illustrates an example where two of the virtualboundary components are enabled, thereby defining two virtual boundaries730 and 740. Other configurations are possible by enabling or disablingselected setters 720 as desired.

The number and positioning of sets of receivers may vary and is notlimited. The designs shown are for illustration purposes only and arenot meant to be restrictive. Various types of wireless signals, such asinfrared light, laser, radio frequencies, wifi signals, sonar signals,light, sound waves, global positioning signal, cellular communicationdevice transmissions, magnetic field signal, or any other availablewireless signal may be used for sending signals from the robotic deviceto the transceiver and for sending signals from the transceiver'semitter to the robotic device.

FIG. 8 illustrates a virtual boundary device embodying features of thepresent invention. As illustrated, virtual boundary device 800 mayinclude housing 802. Within housing 802, receiver pair 810 and 812 areeach located at the terminal end of each of passages 806 and 808respectively. The combination of passages and receiver pair may betermed a virtual boundary component. Passages 806 and 808 extend fromsurface 804 to receiver pair 810 and 812 at an angle. The angle utilizedprevents receiver pair 810 and 812 from substantially simultaneouslyreceiving a signal unless the signal is emitted from a robotic devicepositioned along a line as illustrated by line 814. Thus, when a roboticdevice emitting a robotic device signal is positioned along virtualboundary 814, receiver pair 810 and 812 may substantially simultaneouslyreceive a signal and thereby the robotic device may be caused to avoidthe virtual boundary.

Further illustrated are a number of baffles 824 positioned along thewalls of passage 806. Baffles may be utilized to further narrow thereception range of receiver pair 810 and 812 and reduce reception ofreflected signals being transmitted toward receiver pair 810 and 812.Baffles may be angled toward opening of passages. In embodiments,baffles may be manufactured from signal absorbing materials or signalreflective materials without limitation. In further embodiments, bafflesmay be angled at a range of approximately 10 to 60 degrees, morepreferably 40 degrees. As may be appreciated, different angles mayimpart different signal reception characteristics.

In embodiments, the robotic device may avoid the virtual boundary byaltering its movement in any number of ways such as, stopping, slowing,and changing course without limitation. In embodiments, otherappropriate actions may include triggering an algorithm or marking thepresent location as a boundary on a map without limitation. In furtherembodiments methods may allow robotic devices to pass a virtual boundaryafter a number of times of encountering the virtual boundary. In sodoing, a work area may be completed before a robotic device moves acrossthe virtual boundary to another work area. In other embodiments, methodsmay provide location information as a robotic device crosses a virtualboundary. For example, when a boundary system is placed at an entrancethreshold, a robotic device crossing the virtual boundary provided maysignal that the robotic device has entered a particular room and is nowcovering that room. In embodiments, receiver pairs may be configured forreceiving various signals such as, for example: infrared, laser, radiofrequency, wifi, sonar, light, sound waves, global positioning signal,cellular communication device transmissions, magnetic field signal, orany other suitable wireless signal sent by a robotic device. Inembodiment, the passages 806 are set at an angle with respect to avirtual boundary line. Passage angles may be in a range of approximately−90 to 90 degrees with respect to a virtual boundary line, andpreferably approximately −45 to 45 degrees with respect to a virtualboundary line. In addition, in embodiments, passage angles betweensensors may be the same, may be inversely related, or may be differentfrom each other without limitation.

Further illustrated is passage 820 and receiver 822. As illustrated,passage 820 may be positioned between passage 806 and passage 808.Unlike passages 806 and 808, passage 820 is not angled. Rather passage820, in embodiments, may be substantially parallel with respect tovirtual boundary 814. In embodiments, an additional receivers mayprovide addition control inputs. For example, in an embodiment, when asignal is received at receivers 812 and 822 _([1]), an instruction maybe transmitted to a robotic device as, for example, “slow” or “beginturn.” Likewise, when a signal is received at receivers 810 and 822_([2]) a further instruction may be transmitted to a robotic device. Inthis manner, a robotic device may be more finely tuned to operate withina virtual boundary.

Returning to FIG. 8, virtual boundary device 800 may include acontroller 840 which may be electrically coupled with each of receiver810, 812, and 822. Further, transmitter 850 may be electrically coupledwith controller 840. Transmitter 850 may be a transmitter for infrared,laser, radio frequency, wifi, sonar, light, sound waves, globalpositioning signal, cellular communication device transmissions,magnetic field signal, or other suitable wireless transmitter which iscompatible with a signal which may be received by the robotic device.Controller 840 may function to detect whether both receivers of anyreceiver pair substantially simultaneously receives an incoming signal.Any time a receiver pair substantially simultaneously receives anincoming signal, controller 840 enables transmitter 850 to transmitboundary signals, which may be received by a robotic device positionedalong a virtual boundary and which may be programmed to alter itsmovement path upon receipt of the boundary signal. The controller 840may be implemented with AND gate logic circuits. Other implementationsmay also be used, such as processor based controllers.

In embodiments, housings may be constructed of a type of material and athickness which effectively blocks the robotic device signal.Alternatively, the circuit 840 may monitor the signal strength of therobotic device signal at each receiver and only enables the transmitterwhen the signal strength from both receivers exceeds a threshold amountwhich indicates that the robotic device signal is passing through bothpassages to the respective receivers.

It may be appreciated that robotic device embodiments disclosed hereinmay be autonomous, semi-autonomous, or remote controlled. That is,robotic device embodiments are not limited in response to virtualboundary systems provided herein. For example, a robotic device may,upon reaching a steep turn, engage a semi-autonomous vehicle on a trackto navigate the steep turn. It may be further appreciated that manytypes of coordination with systems provided herein may be contemplated.

FIG. 9 illustrates virtual boundary devices embodying features of thepresent invention. As noted above, in embodiments passages may be atvarious angles with respect to a virtual boundary line. In embodiments,passage angles may be in a range of approximately −90 to 90 degrees withrespect to a virtual boundary line and preferably approximately −45 to45 degrees with respect to a virtual boundary line. In addition, inembodiments, passage angles between sensors may be the same, may beinversely related, or may be different from each other withoutlimitation. Various passage configurations are illustrated in FIG. 9.For example, virtual boundary device 900 may include a pair of passages902A and 902B, which passages may be inwardly facing with respect tovirtual boundary line 910. Lines 904A and 904B are parallel with virtualboundary line 910 and are provided for reference. As illustrated,passage 902A is angled at θ¹ 908A and may received signals along line906A. Likewise, passage 902B is angled at θ² 908B and may receivedsignals along line 906B. In another embodiment, virtual boundary device920 may include a pair of passages 922A and 922B, which passages may beoutwardly facing with respect to virtual boundary line 930. Lines 924Aand 924B are parallel with virtual boundary line 930 and are providedfor reference. As illustrated, passage 922A is angled at θ¹ 928A and mayreceived signals along line 926A. Likewise, passage 922B is angled at θ²928B and may received signals along line 926B. In a further embodiment,virtual boundary device 940 may include a pair of passages 942A and942B, which passages may be rightward facing with respect to virtualboundary line 950. Lines 944A and 944B are parallel with virtualboundary line 950 and are provided for reference. As illustrated,passage 942A is angled at θ¹ 948A and may received signals along line946A. Likewise, passage 942B is angled at θ² 948B and may receivedsignals along line 946B. It may be seen from the foregoing examples thatpassages may be configured at any angle without departing fromembodiments provided herein. In addition, angles between passages may bethe same or different without limitation in embodiments.

FIG. 10 illustrates a virtual boundary device embodying features of thepresent invention. As illustrated, virtual boundary device 1000 mayinclude a pair of passages 1002A and 1002B, which passages may beforward facing with respect to virtual boundary line 1010. Asillustrated, passage 1002A has an angle θ¹ 1008A of approximately zerowith respect to virtual boundary line 1010. That is, passage 1002A issubstantially parallel with virtual boundary line 1010. Further, passage1002A may receive signals along line 1006A. Further illustrated, passage1002B has an angle 0² 1008B of approximately zero with respect tovirtual boundary line 1010. That is, passage 1002B is substantiallyparallel with virtual boundary line 1010. Further, passage 1002B mayreceive signals along line 1006B. It may be seen from the foregoingexamples that passages may be configured at any angle without departingfrom embodiments provided herein. In addition, angles between passagesmay be the same or different without limitation in embodiments.

ALTERNATE EMBODIMENTS

FIG. 11 illustrates a virtual boundary device embodying features of thepresent invention. In particular, FIG. 11 is an illustrativerepresentation of a passage embodiment using additional opticalconfigurations. As illustrated, virtual boundary device 1100 may includepassage 1102 that, unlike previous embodiments, terminates in reflectiveelement 1106. As illustrated, passage 1012 is substantially parallelwith virtual boundary line 1110. In embodiments, reflective element 1106may be utilized to reflect received signals 1104 toward sensor 1112.Reflective element embodiments may be matched to reflect a particularsignal or range of signals as desired. In addition, virtual boundarydevice 1100 may further include focusing element 1108 for focusingsignal 1104 toward sensor 1112. Any type of suitable focusing elementknown in the art may be utilized without departing from embodimentscontemplated herein. As above passages utilizing optical configurationsmay be at various angles with respect to a virtual boundary line withoutlimitation and without departing from embodiments provided herein.

The foregoing descriptions of specific embodiments of the invention havebeen presented for purposes of illustration and description. They arenot intended to be exhaustive or to limit the invention to the preciseforms disclosed. Obviously, many modifications and variations arepossible in light of the above teaching. The embodiments were chosen anddescribed in order to explain the principles and the application of theinvention, thereby enabling others skilled in the art to utilize theinvention in its various embodiments and modifications according to theparticular purpose contemplated. The scope of the invention is intendedto be defined by the claims appended hereto and their equivalents.Further, the Abstract is provided herein for convenience and should notbe employed to construe or limit the overall invention, which isexpressed in the claims. It is therefore intended that the followingappended claims be interpreted as including all such alterations,permutations, and equivalents as fall within the true spirit and scopeof the present invention.

What is claimed is:
 1. A method for utilizing virtual boundaries withrobotic devices comprising: positioning a boundary component having afirst receiver pair to receive a first robotic device signalsubstantially simultaneously by each receiver of the first receiver pairfrom a first robotic device only when the first robotic device ispositioned along a first virtual boundary; operating the first roboticdevice to move automatically within an area co-located with the firstvirtual boundary; transmitting the first robotic device signal by thefirst robotic device; and receiving the first robotic device signal bythe first receiver pair thereby indicating that the first robotic deviceis positioned along the first virtual boundary.
 2. The method of claim1, further comprising: in response to receiving the first robotic devicesignal substantially simultaneously, altering the first robotic devicemovement to avoid crossing the virtual boundary.
 3. The method of claim2, wherein altering the first robotic movement further comprises:transmitting a boundary signal from the boundary device; and receivingthe boundary signal by the first robotic device.
 4. The method of claim1, wherein the first robotic device signal is only transmitted during adesignated time.
 5. The method of claim 1, wherein the first receiverpair is configured to receive the first robotic device signal onlyduring a designated time.
 6. The method of claim 3, wherein the boundarysignal is transmitted only during a designated time.
 7. The method ofclaim 1, further comprising: positioning at least one additionalboundary component each having at least one additional receiver pair toreceive the first robotic device signal substantially simultaneouslyfrom the first robotic device only when the first robotic device ispositioned along at least one additional virtual boundary; operating thefirst robotic device to move automatically within an area co-locatedwith the at least one additional virtual boundary; transmitting thefirst robotic device signal by the first robotic device; and receivingthe first robotic device signal by the at least one additional firstreceiver pair thereby indicating that the first robotic device ispositioned along the at least one additional virtual boundary.
 8. Themethod of claim 7, comprising: a boundary device, wherein at least twoboundary components are pivotally coupled therewith.
 9. The method ofclaim 1, wherein the boundary component comprises at least: a firstpassage terminating at a first receiver; and a second passageterminating at a second receiver, the first receiver and the secondreceiver forming the first receiver pair.
 10. The method of claim 9,wherein the first passage and the second passage each further include aplurality of baffles positioned along first and second passage walls,wherein the plurality of baffles are angled toward openings of the firstand second passage.
 11. The method of claim 9, wherein the passages areangled to physically prevent the first robotic device signal fromsubstantially simultaneously reaching the receiver pair except when thefirst robotic device is positioned along the first virtual boundary. 12.The method of claim 9, further comprising: a third passage terminatingat a third receiver for receiving the first robotic signal from therobotic device, wherein the third passage is located between the firstpassage and the second passage.
 13. The method of claim 1, wherein thefirst robotic device signal is selected from the group consisting of:infrared, laser, radio frequency, wifi, sonar, light, sound waves,global positioning signal, cellular communication device transmissions,and magnetic field signals.
 14. A virtual boundary system for roboticdevices comprising: at least one robotic device each comprising, arobotic transmitter for transmitting a robotic device signal, a roboticreceiver for receiving a boundary signal, and a robotic controller foraltering movement of the robotic device in response to receiving theboundary signal; and at least one boundary device each comprising, atleast one boundary component having passages and a receiver pair, thereceiver pair configured to receive the robotic device signalsubstantially simultaneously by each receiver of the receiver pair whenthe at least one robotic device is positioned along at least one virtualboundary, and a boundary transmitter for transmitting the boundarysignal in response to receiving the robotic device signal substantiallysimultaneously.
 15. The system of claim 14, wherein the at least oneboundary device comprises: at least two boundary components pivotallycoupled therewith wherein each of the at least two boundary componentseach establish a separate virtual boundary.
 16. The system of claim 14,wherein the passages are angled to physically prevent the robotic devicesignal from substantially simultaneously reaching the receiver pairexcept when the robotic device is positioned along the at least onevirtual boundary.
 17. The system of claim 14, wherein the at least onevirtual boundary is established only during a designated time.
 18. Acomputing device program product for utilizing virtual boundaries withrobotic devices, the computing device program product comprising: anon-transitory computer readable medium; first programmatic instructionsfor operating a first robotic device to move automatically within anarea co-located with a first virtual boundary, the first virtualboundary established by positioning a boundary component having a firstreceiver pair to receive a first robotic device signal substantiallysimultaneously by each receiver of the first receiver pair from thefirst robotic device only when the first robotic device is positionedalong the first virtual boundary; second programmatic instructions fortransmitting the first robotic device signal by the first roboticdevice; third programmatic instructions for receiving the first roboticdevice signal by the first receiver pair thereby indicating that thefirst robotic device is positioned along the first virtual boundary; andfourth programmatic instructions for altering the first robotic devicemovement to avoid crossing the virtual boundary.
 19. The program productof claim 18, wherein fourth programmatic instructions for altering thefirst robotic movement further comprises: transmitting a boundary signalfrom the boundary device; and receiving the boundary signal by the firstrobotic device.